diff --git a/.circleci/config.yml b/.circleci/config.yml
index a54fe5d281d..ec6a46b682e 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -74,6 +74,10 @@ references:
                 rosdep install -q -y \
                   --from-paths src \
                   --ignore-src \
+                  --skip-keys " \
+                    gazebo11 \
+                    libgazebo11-dev \
+                  " \
                   --verbose | \
                 awk '$1 ~ /^resolution\:/' | \
                 awk -F'[][]' '{print $2}' | \
@@ -276,10 +280,6 @@ references:
       file: lcov/project_coverage.info
       flags: project
       when: always
-  install_deployment_key: &install_deployment_key
-    add_ssh_keys:
-      fingerprints:
-        - "0e:8e:90:bf:3d:a9:04:d9:04:b4:62:38:a5:3b:90:7d"
 
 commands:
   <<: *common_commands
@@ -393,14 +393,14 @@ workflows:
             - release_build
   nightly:
     jobs:
-      - debug_build
-      - debug_test:
-          requires:
-            - debug_build
+      # - debug_build
+      # - debug_test:
+      #     requires:
+      #       - debug_build
       - release_build
-      - test_rmw_connext_cpp:
-          requires:
-            - release_build
+      # - test_rmw_connext_cpp:
+      #     requires:
+      #       - release_build
       - test_rmw_cyclonedds_cpp:
           requires:
             - release_build
diff --git a/Dockerfile b/Dockerfile
index 9ac07102cac..41864885202 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -7,32 +7,34 @@
 #   --build-arg UNDERLAY_MIXINS \
 #   --build-arg OVERLAY_MIXINS ./
 ARG FROM_IMAGE=osrf/ros2:nightly
+ARG UNDERLAY_WS=/opt/underlay_ws
+ARG OVERLAY_WS=/opt/overlay_ws
 
 # multi-stage for caching
-FROM $FROM_IMAGE AS cache
+FROM $FROM_IMAGE AS cacher
 
 # clone underlay source
-ENV UNDERLAY_WS /opt/underlay_ws
-RUN mkdir -p $UNDERLAY_WS/src
-WORKDIR $UNDERLAY_WS
-COPY ./tools/ros2_dependencies.repos ./
-RUN vcs import src < ros2_dependencies.repos
+ARG UNDERLAY_WS
+WORKDIR $UNDERLAY_WS/src
+COPY ./tools/ros2_dependencies.repos ../
+RUN vcs import ./ < ../ros2_dependencies.repos && \
+    find ./ -name ".git" | xargs rm -rf
 
 # copy overlay source
-ENV OVERLAY_WS /opt/overlay_ws
-RUN mkdir -p $OVERLAY_WS/src
-WORKDIR $OVERLAY_WS
-COPY ./ src/navigation2
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS/src
+COPY ./ ./navigation2
 
 # copy manifests for caching
 WORKDIR /opt
-RUN find ./ -name "package.xml" | \
-      xargs cp --parents -t /tmp && \
+RUN mkdir -p /tmp/opt && \
+    find ./ -name "package.xml" | \
+      xargs cp --parents -t /tmp/opt && \
     find ./ -name "COLCON_IGNORE" | \
-      xargs cp --parents -t /tmp
+      xargs cp --parents -t /tmp/opt || true
 
 # multi-stage for building
-FROM $FROM_IMAGE AS build
+FROM $FROM_IMAGE AS builder
 
 # install CI dependencies
 RUN apt-get update && apt-get install -q -y \
@@ -40,63 +42,77 @@ RUN apt-get update && apt-get install -q -y \
       lcov \
     && rm -rf /var/lib/apt/lists/*
 
-# copy underlay manifests
-ENV UNDERLAY_WS /opt/underlay_ws
-COPY --from=cache /tmp/underlay_ws $UNDERLAY_WS
-WORKDIR $UNDERLAY_WS
+# TODO: clean up once libgazebo11-dev released into ros2 repo
+# https://github.com/ros-infrastructure/reprepro-updater/pull/75
+# https://github.com/ros/rosdistro/pull/24646
+# setup keys
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
+# setup sources.list
+RUN . /etc/os-release \
+    && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-latest.list
+# install gazebo packages
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+      libgazebo11-dev \
+    && rm -rf /var/lib/apt/lists/*
 
 # install underlay dependencies
+ARG UNDERLAY_WS
+WORKDIR $UNDERLAY_WS
+COPY --from=cacher /tmp/$UNDERLAY_WS ./
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
       --ignore-src \
+      --skip-keys " \
+        gazebo11 \
+        libgazebo11-dev \
+      " \
     && rm -rf /var/lib/apt/lists/*
 
-# copy underlay source
-COPY --from=cache $UNDERLAY_WS ./
-
 # build underlay source
+COPY --from=cacher $UNDERLAY_WS ./
 ARG UNDERLAY_MIXINS="release ccache"
 ARG FAIL_ON_BUILD_FAILURE=True
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     colcon build \
       --symlink-install \
-      --mixin \
-        $UNDERLAY_MIXINS \
+      --mixin $UNDERLAY_MIXINS \
       --event-handlers console_direct+ \
     || touch build_failed && \
     if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
       exit 1; \
     fi
 
-# copy overlay manifests
-ENV OVERLAY_WS /opt/overlay_ws
-COPY --from=cache /tmp/overlay_ws $OVERLAY_WS
-WORKDIR $OVERLAY_WS
-
 # install overlay dependencies
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS
+COPY --from=cacher /tmp/$OVERLAY_WS ./
 RUN . $UNDERLAY_WS/install/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
+        $UNDERLAY_WS/src \
       --ignore-src \
+      --skip-keys " \
+        gazebo11 \
+        libgazebo11-dev \
+      " \
     && rm -rf /var/lib/apt/lists/*
 
-# copy overlay source
-COPY --from=cache $OVERLAY_WS ./
-
 # build overlay source
+COPY --from=cacher $OVERLAY_WS ./
 ARG OVERLAY_MIXINS="release ccache"
 RUN . $UNDERLAY_WS/install/setup.sh && \
     colcon build \
       --symlink-install \
-      --mixin \
-        $OVERLAY_MIXINS \
+      --mixin $OVERLAY_MIXINS \
     || touch build_failed && \
     if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
       exit 1; \
     fi
 
 # source overlay from entrypoint
+ENV UNDERLAY_WS $UNDERLAY_WS
+ENV OVERLAY_WS $OVERLAY_WS
 RUN sed --in-place \
       's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
       /ros_entrypoint.sh
diff --git a/release_branch.Dockerfile b/release_branch.Dockerfile
deleted file mode 100644
index 3a03113420b..00000000000
--- a/release_branch.Dockerfile
+++ /dev/null
@@ -1,43 +0,0 @@
-# This dockerfile expects proxies to be set via --build-arg if needed
-# It also expects to be contained in the /navigation2 root folder for file copy
-#
-# Example build command:
-# export CMAKE_BUILD_TYPE=Debug
-# docker build -t nav2:release_branch \
-#   --build-arg FROM_IMAGE=dashing \
-#   --build-arg CMAKE_BUILD_TYPE \
-#   -f Dockerfile.release_branch ./
-
-ARG FROM_IMAGE=dashing
-FROM ros:$FROM_IMAGE
-
-RUN rosdep update
-
-# copy ros package repo
-ENV NAV2_WS /opt/nav2_ws
-RUN mkdir -p $NAV2_WS/src
-WORKDIR $NAV2_WS/src
-COPY ./ navigation2/
-
-# install navigation2 package dependencies
-WORKDIR $NAV2_WS
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
-    apt-get update && \
-    rosdep install -q -y \
-      --from-paths \
-        src \
-      --ignore-src \
-    && rm -rf /var/lib/apt/lists/*
-
-# build navigation2 package source
-ARG CMAKE_BUILD_TYPE=Release
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
-    colcon build \
-      --symlink-install \
-      --cmake-args \
-        -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE
-
-# source navigation2 workspace from entrypoint
-RUN sed --in-place --expression \
-      '$isource "$NAV2_WS/install/setup.bash"' \
-      /ros_entrypoint.sh
diff --git a/tools/release.Dockerfile b/tools/release.Dockerfile
new file mode 100644
index 00000000000..2b89b534008
--- /dev/null
+++ b/tools/release.Dockerfile
@@ -0,0 +1,102 @@
+# syntax=docker/dockerfile:experimental
+
+# Use experimental buildkit for faster builds
+# https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/experimental.md
+# Use `--progress=plain` to use plane stdout for docker build
+#
+# Example build command:
+# export DOCKER_BUILDKIT=1
+# export FROM_IMAGE="ros:eloquent"
+# export OVERLAY_MIXINS="release ccache"
+# docker build -t nav2:release_branch \
+#   --build-arg FROM_IMAGE \
+#   --build-arg OVERLAY_MIXINS \
+#   -f release_branch.Dockerfile ./
+
+ARG FROM_IMAGE=ros:eloquent
+ARG OVERLAY_WS=/opt/overlay_ws
+
+# multi-stage for caching
+FROM $FROM_IMAGE AS cacher
+
+# copy overlay source
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS/src
+RUN echo "\
+repositories: \n\
+  ros-planning/navigation2: \n\
+    type: git \n\
+    url: https://github.com/ros-planning/navigation2.git \n\
+    version: ${ROS_DISTRO}-devel \n\
+" > ../overlay.repos
+RUN vcs import ./ < ../overlay.repos && \
+    find ./ -name ".git" | xargs rm -rf
+# COPY ./ ./ros-planning/navigation2
+
+# copy manifests for caching
+WORKDIR /opt
+RUN mkdir -p /tmp/opt && \
+    find ./ -name "package.xml" | \
+      xargs cp --parents -t /tmp/opt && \
+    find ./ -name "COLCON_IGNORE" | \
+      xargs cp --parents -t /tmp/opt || true
+
+# multi-stage for building
+FROM $FROM_IMAGE AS builder
+
+# edit apt for caching
+RUN cp /etc/apt/apt.conf.d/docker-clean /etc/apt/ && \
+    echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' \
+      > /etc/apt/apt.conf.d/docker-clean
+
+# install CI dependencies
+RUN --mount=type=cache,target=/var/cache/apt \
+    --mount=type=cache,target=/var/lib/apt \
+    apt-get update && apt-get install -q -y \
+      ccache \
+      lcov \
+    && rosdep update
+
+# install overlay dependencies
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS
+COPY --from=cacher /tmp/$OVERLAY_WS/src ./src
+RUN --mount=type=cache,target=/var/cache/apt \
+    --mount=type=cache,target=/var/lib/apt \
+    . /opt/ros/$ROS_DISTRO/setup.sh && \
+    apt-get update && rosdep install -q -y \
+      --from-paths src \
+      --ignore-src \
+    && rm -rf /var/lib/apt/lists/*
+
+# build overlay source
+COPY --from=cacher $OVERLAY_WS/src ./src
+ARG OVERLAY_MIXINS="release ccache"
+RUN --mount=type=cache,target=/root/.ccache \
+    . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build \
+      --symlink-install \
+      --mixin $OVERLAY_MIXINS
+
+# restore apt for docker
+RUN mv /etc/apt/docker-clean /etc/apt/apt.conf.d/ && \
+    rm -rf /var/lib/apt/lists/
+
+# source overlay from entrypoint
+ENV OVERLAY_WS $OVERLAY_WS
+RUN sed --in-place \
+      's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
+      /ros_entrypoint.sh
+
+# ARG RUN_TESTS
+# ARG FAIL_ON_TEST_FAILURE
+# RUN if [ -z "$RUN_TESTS" ]; then \
+#         colcon test \
+#           --mixin $OVERLAY_MIXINS \
+#           --ctest-args --test-regex "test_.*"; \
+#         if [ -z "$FAIL_ON_TEST_FAILURE" ]; then \
+#             colcon test-result; \
+#         else \
+#             colcon test-result || true; \
+#         fi \
+#     fi
diff --git a/tools/ros2_dependencies.repos b/tools/ros2_dependencies.repos
index b10c8af63ae..df9e1a177aa 100644
--- a/tools/ros2_dependencies.repos
+++ b/tools/ros2_dependencies.repos
@@ -1,21 +1,24 @@
 repositories:
-  BehaviorTree.CPP:
+  BehaviorTree/BehaviorTree.CPP:
     type: git
     url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
     version: master
-  angles:
+  ros/angles:
     type: git
     url: https://github.com/ros/angles.git
     version: ros2
-  gazebo_ros_pkgs:
+  ros-simulation/gazebo_ros_pkgs:
     type: git
     url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
-    version: ros2
-  image_common:
+    # TODO: Revert after support for Gazebo v11 is merged
+    # https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1093
+    # version: ros2
+    version: gazebo11_foxy
+  ros-perception/image_common:
     type: git
     url: https://github.com/ros-perception/image_common.git
     version: ros2
-  vision_opencv:
+  ros-perception/vision_opencv:
     type: git
     url: https://github.com/ros-perception/vision_opencv.git
     version: ros2
diff --git a/full_ros_build.Dockerfile b/tools/source.Dockerfile
similarity index 100%
rename from full_ros_build.Dockerfile
rename to tools/source.Dockerfile